Cooperative manipulation is a special form of constrained dynamical systems [1]}, [2]}, [3]}, [4]}, [5]}, [6]}. The majority of related works assume that the robotic agents are attached to the object via rigid grasps, and hence the overall system can be considered as a closed-chain robotic agent. In terms of control design, most works consider decentralized schemes, where there is no communication between the agents, and use impedance and/or force control [7]}, [8]}, [9]}, [10]}, possibly with contact force/torque measurements (e.g., [11]}, [12]}). In addition, numerous works consider unknown dynamics/kinematics of the agents and the object and/or external disturbances [13]}, [14]}, [15]}, [16]}.
